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Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damage to persons or property, fitness for a specific purpose or the like.
Standard • Foundry Plus Product manual scope The manual covers all variants and designs of the IRB 6730. Some variants and designs may have been removed from the business offer and are no longer available for purchase. Usage This manual should be used during: •...
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3HAC086333-001 Technical reference manual - System parameters 3HAC065041-001 Operating manual - Service Information System 3HAC050944-001 All documents can be found via myABB Business Portal, www.abb.com/myABB. Revisions Revision Description First edition. Published in release 23C. The following updates are made in this revision: •...
Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
Limitation of liability Any information given in this manual regarding safety must not be construed as a warranty by ABB that the industrial robot will not cause injury or damage even if all safety instructions are complied with. The information does not cover how to design, install and operate a robot system, nor does it cover all peripheral equipment that can influence the safety of the robot system.
The manipulator can move unexpectedly at any time. DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. A risk assessment must be done to address both robot and robot system specific hazards.
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Continued Axis Working range Note Axis 6 ±360° IRB 6730-270/2.7, IRB 6730-240/2.9, IRB 6730- 210/3.1 ±220° IRB 6730-220/2.9 LID, IRB 6730-190/3.1 LID Option Extended Working Range Axis 1 (3324-1) Not valid with DressPack SW. -160° if lower arm DressPack is installed iii Maximum combined movements reduced.
It also contains information useful during later re-installation of the robot. Prerequisites for installation personnel Installation personnel working with an ABB product must: • Be trained by ABB and have the required knowledge of mechanical and electrical installation/maintenance/repair work. • Conform to all national and local codes.
Introduction This procedure is a brief guide when installing the robot for the first time. Also see Pre-installation procedure on page First installation Use these procedures to install the IRB 6730. Action Note Transport the manipulator to its intended location.
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Handling the tool incorrectly will cause serious injury. Read and follow enclosed user instructions for the tool. CAUTION The IRB 6730 robot weighs . IRB 6730-270/2.7: 1,260 kg IRB 6730-240/2.9: 1,270 kg IRB 6730-210/3.1: 1,270 kg IRB 6730-220/2.9 LID: 1,340 kg IRB 6730-190/3.1 LID: 1,340 kg...
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3 Installation and commissioning 3.3.3.3 Lifting the robot with roundslings Continued CAUTION The weight of the IRB 6730 robot is IRB 6730-270/2.7: 1,260 kg IRB 6730-240/2.9: 1,270 kg IRB 6730-210/3.1: 1,270 kg IRB 6730-220/2.9 LID: 1,340 kg IRB 6730-190/3.1 LID: 1,340 kg All lifting accessories used must be sized accordingly.
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3.3.3.3 Lifting the robot with roundslings Continued Action Note CAUTION The weight of the IRB 6730 robot is IRB 6730-270/2.7: 1,260 kg IRB 6730-240/2.9: 1,270 kg IRB 6730-210/3.1: 1,270 kg IRB 6730-220/2.9 LID: 1,340 kg IRB 6730-190/3.1 LID: 1,340 kg All lifting accessories used must be sized ac- cordingly.
See Base plate, guide sleeve holes on page CAUTION The weight of the IRB 6730 robot is IRB 6730-270/2.7: 1,260 kg IRB 6730-240/2.9: 1,270 kg IRB 6730-210/3.1: 1,270 kg IRB 6730-220/2.9 LID: 1,340 kg IRB 6730-190/3.1 LID: 1,340 kg...
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Use the movable mechanical stop or the dents in the casting as a guide to drill. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
4.2.1 Specification of maintenance intervals Introduction The intervals are specified in different ways depending on the type of maintenance activity to be carried out and the working conditions of the IRB 6730: • Calendar time: specified in months regardless of whether the system is running or not.
Axis-5 dampers Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. The figures show the location of the information labels to be inspected. The symbols...
Required consumables and wear parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Wear part Article number...
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Pull out the battery and disconnect the battery cable. xx2100002131 Remove the SMB battery. Note Battery includes protection circuits. Only replace with a specified spare part or with an ABB-ap- proved equivalent. Refitting the battery Use this procedure to refit the SMB battery. Action Note...
4.6.1 Cleaning the IRB 6730 General To secure high uptime it is important that the IRB 6730 is cleaned regularly. The frequency of cleaning depends on the environment in which the manipulator works. Different cleaning methods are allowed depending on the type of protection of the IRB 6730.
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Cleaning agent to be tested on a small surface prior usage on complete manipulator. Cleaning with water Instructions for rinsing with water ABB robots with protection types Standard or Foundry Plus can be cleaned by rinsing with water (water cleaner). The following list defines the prerequisites: •...
Repair activities not described in this chapter must only be carried out by ABB. Report replaced units Note When replacing a part on the IRB 6730, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
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If the flange surfaces are defective, the parts may not be used because leakage could occur. Clean the surfaces properly in accordance with the recommendations of ABB. Distribute the sealing compound evenly over the surface. Tighten the screws evenly when fastening the flange joint.
5 Replace the cassette sealing. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
3 Replace the balancing device. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
4 Replace the arm house cover including the cassette sealing. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
The wrist is located as shown in the figure. xx2300000147 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
IRB 6730-220/2.9 LID, IRB 6730-190/3.1 LID: xx2100002628 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
The cable harness is located as shown in the figure. xx2200001729 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
The cable harness is located as shown in the figure. xx2200001729 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
The brake release unit is located as shown in the figure. xx2200001727 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
The SMB unit is located as shown in the figure. xx2200001719 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
1 Replace the motor. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
3 Replace the motor. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
The motor is located as shown in the figure. xx2300000145 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
The motor is located as shown in the figure. xx2300000056 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
The motor is located as shown in the figure. xx2300000146 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
The motor is located as shown in the figure. xx2200001776 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
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5.9.1 Replacing the axis-1 gearbox Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
5 Replace the axis-3 gearbox. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
The gearbox is located as shown in the figure. xx2200001768 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6730 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Term Definition Calibration method A collective term for several methods that might be available for calibrating the ABB robot. Each method contains calibration routines. Synchronization position Known position of the complete robot where the angle of each axis can be checked against visual synchronization marks.
Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 6730. It is the recommended method in order to achieve proper performance. The following routines are available for the Axis Calibration method: •...
The resolver values are changed If resolver values are changed, the robot must be re-calibrated using the calibration methods supplied by ABB. Calibrate the robot carefully with standard calibration, according to information in this manual. If the robot has absolute accuracy calibration, it is also recommended, but not always necessary to calibrate for new absolute accuracy.
FlexPendant. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. WARNING The calibration tool must be fully inserted into the calibration bushing, until the steel spring ring snaps into place.
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A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory. The reference value will be named according to tool name, date etc.
There is no risk for bad calibrations as long as the calibration tool is in one piece. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. Equipment, etc. Article number...
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It is possible to make the calibration tool identifiable with, for example, an RFID chip. The procedure of how to install an RFID chip is described below. Note The tool identifier is NOT delivered from ABB, it is a customized solution. Action Note It is possible to use any RFID solution, with the correct dimensions.
WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration holes may cause severe damage to the robot and/or personnel. Equipment, etc.
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For RobotWare 7, the mechanical unit page is displayed only if there is more than one mechan- ical unit available. The calibration method used at ABB factory for The FlexPendant will give all inform- each axis is shown, as well as calibration method ation needed to proceed with Axis used for the robot during last field calibration.
8.2 Environmental information 8.2 Environmental information Introduction ABB robots contain components in different materials. During decommissioning, all materials should be dismantled, recycled, or reused responsibly, according to the relevant laws and industrial standards. Robots or parts that can be reused or upcycled helps to reduce the usage of natural resources.
9.4 Screw joints 9.4 Screw joints General This section describes how to tighten the various types of screw joints on ABB robots. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials.
All components exceeding 22 kg (50 lbs) are highlighted in this way. To avoid injury, ABB recommends the use of a lifting accessory when handling components with a weight exceeding 22 kg. A wide range of lifting accessories and devices are available for each manipulator model.
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9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Removal/refitting tools Replacement tool for cassette 3HAC079880-001 sealing xx2100002288 Replacement tool for arm house 3HAC079878-001 cover xx2100002289 3HAC028920-001 Dismantle and mounting tool...
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9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Hydraulic press equipment, 3HAC074411-001 balancing device xx2000001376 3HAC13086-1 Hydraulic pump 80 MPa 3HAC11731-1 Hydraulic cylinder Lifting accessories Roundsling, 0.5 m Roundsling, 1 m Roundsling, 1.5 m...
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9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) 3HAC16131-1 Lifting eye xx1200001242 Lifting shackle xx1200001243 Guide pins 3HAC080345-001 Guide pin, M6x150 3HAC15520-2 Guide pin, M8x150 3HAC15521-2 Guide pin, M10x150...